Supervisory system for DTP2 remote handling operations

A. Hahto (Corresponding Author), L. Aha, T. Nurminen, A. Aaltonen, L. Heikkilä, J. Mattila, Mikko Siuko, Hannu Saarinen, L. Semeraro

Research output: Contribution to journalArticleScientificpeer-review

2 Citations (Scopus)

Abstract

The purpose of the Divertor Test Platform 2 (DTP2) is to demonstrate the proof-of-concept level remote handling operations with ITER maintenance devices, from a dedicated control room. In order to remotely operate these devices safely, a supervisory system composed of several software sub-systems is needed.

For each of the devices, a control system is embodied. In the control room, there is no direct visual contact to the operation area and therefore, a remote viewing system having radiation tolerant cameras is required. Should the camera feeds be unavailable or with limited visibility, a 3D visualization system is utilized for showing a virtual model of the scene. As the maintenance sequences are often complicated and subject to formal approval, having them well designed beforehand is mandatory.

In this paper, we present the complete software and hardware solution designed and implemented for the DTP2 remote handling operations, already being used with the Water Hydraulic Manipulator (WHMAN) and Cassette Multifunctional Mover (CMM). We present the modular division of systems, each of them in smaller detail, and go through some of the design choices made during the platform evolution.
Original languageEnglish
Pages (from-to)2047-2050
Number of pages4
JournalFusion Engineering and Design
Volume86
Issue number9-11
DOIs
Publication statusPublished - 2011
MoE publication typeA1 Journal article-refereed
Event26th Symposium of Fusion Technology, SOFT-26 - Porto, Portugal
Duration: 27 Sep 20101 Oct 2010
Conference number: 26

Fingerprint

Cameras
Visibility
Manipulators
Visualization
Hydraulics
Hardware
Control systems
Radiation
Water

Keywords

  • Remote handling
  • task planning
  • viewing
  • visualization

Cite this

Hahto, A., Aha, L., Nurminen, T., Aaltonen, A., Heikkilä, L., Mattila, J., ... Semeraro, L. (2011). Supervisory system for DTP2 remote handling operations. Fusion Engineering and Design, 86(9-11), 2047-2050. https://doi.org/10.1016/j.fusengdes.2011.02.051
Hahto, A. ; Aha, L. ; Nurminen, T. ; Aaltonen, A. ; Heikkilä, L. ; Mattila, J. ; Siuko, Mikko ; Saarinen, Hannu ; Semeraro, L. / Supervisory system for DTP2 remote handling operations. In: Fusion Engineering and Design. 2011 ; Vol. 86, No. 9-11. pp. 2047-2050.
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Hahto, A, Aha, L, Nurminen, T, Aaltonen, A, Heikkilä, L, Mattila, J, Siuko, M, Saarinen, H & Semeraro, L 2011, 'Supervisory system for DTP2 remote handling operations', Fusion Engineering and Design, vol. 86, no. 9-11, pp. 2047-2050. https://doi.org/10.1016/j.fusengdes.2011.02.051

Supervisory system for DTP2 remote handling operations. / Hahto, A. (Corresponding Author); Aha, L.; Nurminen, T.; Aaltonen, A.; Heikkilä, L.; Mattila, J.; Siuko, Mikko; Saarinen, Hannu; Semeraro, L.

In: Fusion Engineering and Design, Vol. 86, No. 9-11, 2011, p. 2047-2050.

Research output: Contribution to journalArticleScientificpeer-review

TY - JOUR

T1 - Supervisory system for DTP2 remote handling operations

AU - Hahto, A.

AU - Aha, L.

AU - Nurminen, T.

AU - Aaltonen, A.

AU - Heikkilä, L.

AU - Mattila, J.

AU - Siuko, Mikko

AU - Saarinen, Hannu

AU - Semeraro, L.

PY - 2011

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AB - The purpose of the Divertor Test Platform 2 (DTP2) is to demonstrate the proof-of-concept level remote handling operations with ITER maintenance devices, from a dedicated control room. In order to remotely operate these devices safely, a supervisory system composed of several software sub-systems is needed.For each of the devices, a control system is embodied. In the control room, there is no direct visual contact to the operation area and therefore, a remote viewing system having radiation tolerant cameras is required. Should the camera feeds be unavailable or with limited visibility, a 3D visualization system is utilized for showing a virtual model of the scene. As the maintenance sequences are often complicated and subject to formal approval, having them well designed beforehand is mandatory.In this paper, we present the complete software and hardware solution designed and implemented for the DTP2 remote handling operations, already being used with the Water Hydraulic Manipulator (WHMAN) and Cassette Multifunctional Mover (CMM). We present the modular division of systems, each of them in smaller detail, and go through some of the design choices made during the platform evolution.

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KW - task planning

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Hahto A, Aha L, Nurminen T, Aaltonen A, Heikkilä L, Mattila J et al. Supervisory system for DTP2 remote handling operations. Fusion Engineering and Design. 2011;86(9-11):2047-2050. https://doi.org/10.1016/j.fusengdes.2011.02.051